SE545858C2 - Improved navigation for a robotic lawnmower - Google Patents

Improved navigation for a robotic lawnmower Download PDF

Info

Publication number
SE545858C2
SE545858C2 SE2251014A SE2251014A SE545858C2 SE 545858 C2 SE545858 C2 SE 545858C2 SE 2251014 A SE2251014 A SE 2251014A SE 2251014 A SE2251014 A SE 2251014A SE 545858 C2 SE545858 C2 SE 545858C2
Authority
SE
Sweden
Prior art keywords
robotic lawnmower
correction data
interface
charging station
rtk correction
Prior art date
Application number
SE2251014A
Other versions
SE2251014A1 (en
Inventor
Michel Chedid
Original Assignee
Husqvarna Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Husqvarna Ab filed Critical Husqvarna Ab
Priority to SE2251014A priority Critical patent/SE2251014A1/en
Priority to PCT/SE2023/050613 priority patent/WO2024049337A1/en
Publication of SE545858C2 publication Critical patent/SE545858C2/en
Publication of SE2251014A1 publication Critical patent/SE2251014A1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/071—DGPS corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/661—Docking at a base station
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/23—Gardens or lawns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A robotic lawnmower system (200) comprising a charging station (210) and robotic lawnmower (100) arranged to operate in an operational area (205), wherein the charging station (210) comprises a communication interface (213) comprising a first interface (213 A) for establishing an internet connection and a second interface (213B) for transmitting RTK correction data to the robotic lawnmower (100) and wherein the robotic lawnmower (100) comprises a satellite navigation receiver (190) and a communication interface (115 A) for receiving RTK correction data from the charging station (210), and wherein the controller (211) of the charging station (210) is configured to receive RTK correction data through an internet connection via the first interface (213 A) and to transmit the RTK correction data to the robotic lawnmower (100) via the second interface (213B). And wherein the controller (110) of the robotic lawnmower (100) is configured to receive the RTK correction data from the charging station (210) via the communication interface (115 A) and to determine a position for the robotic lawnmower (100) based on the received RTK correction data and the satellite navigation receiver (190).
SE2251014A 2022-09-02 2022-09-02 Improved navigation for a robotic lawnmower SE2251014A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE2251014A SE2251014A1 (en) 2022-09-02 2022-09-02 Improved navigation for a robotic lawnmower
PCT/SE2023/050613 WO2024049337A1 (en) 2022-09-02 2023-06-16 Improved navigation for a robotic lawnmower

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2251014A SE2251014A1 (en) 2022-09-02 2022-09-02 Improved navigation for a robotic lawnmower

Publications (2)

Publication Number Publication Date
SE545858C2 true SE545858C2 (en) 2024-02-27
SE2251014A1 SE2251014A1 (en) 2024-02-27

Family

ID=87035990

Family Applications (1)

Application Number Title Priority Date Filing Date
SE2251014A SE2251014A1 (en) 2022-09-02 2022-09-02 Improved navigation for a robotic lawnmower

Country Status (2)

Country Link
SE (1) SE2251014A1 (en)
WO (1) WO2024049337A1 (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070198159A1 (en) * 2006-01-18 2007-08-23 I-Guide, Llc Robotic vehicle controller
EP3557355A1 (en) * 2016-12-15 2019-10-23 Positec Power Tools (Suzhou) Co., Ltd Autonomous moving device, method thereof for giving alarm on positioning fault, and automatic working system
EP3683643A1 (en) * 2019-01-15 2020-07-22 Honda Research Institute Europe GmbH System comprising an autonomous mobile device and a base station communicating via a boundary wire
EP3968051A1 (en) * 2020-09-15 2022-03-16 Infineon Technologies AG Guiding system for a robot, base station including such a guiding system, and method for guiding a robot
US20220124973A1 (en) * 2019-01-08 2022-04-28 Husqvarna Ab A Robotic Tool, and Methods of Navigating and Defining a Work Area for the Same
US20220155791A1 (en) * 2019-02-20 2022-05-19 Lg Electronics Inc. Moving robot system comprising moving robot and charging station
WO2022177486A1 (en) * 2021-02-22 2022-08-25 Husqvarna Ab Robotic work tool assistance in a robotic work tool system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018108115A1 (en) * 2016-12-13 2018-06-21 苏州宝时得电动工具有限公司 Autonomous moving device, automatic working system, network rtk positioning system, computing device, and operating method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070198159A1 (en) * 2006-01-18 2007-08-23 I-Guide, Llc Robotic vehicle controller
EP3557355A1 (en) * 2016-12-15 2019-10-23 Positec Power Tools (Suzhou) Co., Ltd Autonomous moving device, method thereof for giving alarm on positioning fault, and automatic working system
US20220124973A1 (en) * 2019-01-08 2022-04-28 Husqvarna Ab A Robotic Tool, and Methods of Navigating and Defining a Work Area for the Same
EP3683643A1 (en) * 2019-01-15 2020-07-22 Honda Research Institute Europe GmbH System comprising an autonomous mobile device and a base station communicating via a boundary wire
US20220155791A1 (en) * 2019-02-20 2022-05-19 Lg Electronics Inc. Moving robot system comprising moving robot and charging station
EP3968051A1 (en) * 2020-09-15 2022-03-16 Infineon Technologies AG Guiding system for a robot, base station including such a guiding system, and method for guiding a robot
WO2022177486A1 (en) * 2021-02-22 2022-08-25 Husqvarna Ab Robotic work tool assistance in a robotic work tool system

Also Published As

Publication number Publication date
WO2024049337A1 (en) 2024-03-07
SE2251014A1 (en) 2024-02-27

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